CN102130653A - Method and system for controlling an electric motor using zero current offset value cancellation - Google Patents
Method and system for controlling an electric motor using zero current offset value cancellation Download PDFInfo
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- CN102130653A CN102130653A CN2011100074073A CN201110007407A CN102130653A CN 102130653 A CN102130653 A CN 102130653A CN 2011100074073 A CN2011100074073 A CN 2011100074073A CN 201110007407 A CN201110007407 A CN 201110007407A CN 102130653 A CN102130653 A CN 102130653A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a method and system for controlling an electric motor using zero current offset value cancellation. Methods and systems for controlling an electric motor are provided. The electric motor includes at least one winding. A winding current flowing through the at least one winding is monitored. The winding current has an oscillating component and an offset component. The offset component of the winding current is isolated from the oscillating component of the winding current. The electric motor is controlled based on the offset component of the winding current.
Description
Technical field
Present invention relates in general to electro-motor.More specifically, the present invention relates to control the method and system of electro-motor, for example be used for the electro-motor of the propulsion system of motor vehicle.
Background technology
In recent years, the variation of the development of technology and fashion style makes the design of motor vehicle produce material alterations.Wherein a kind of change relates to complexity, the particularly alternative fuel in working voltage source (or propelling) vehicle, for example hybrid power and the battery electric vehicle of various electrical systems in the motor vehicle.This alternative fuel vehicle uses one or more electro-motors usually, provides power by storage battery usually, may combine with drive wheels with another actuator.
This vehicle uses two independent voltage sources usually, and for example storage battery and fuel cell provide power with the electro-motor of giving drive wheels.Power electronic device (or power electronic system), for example, DC-to-DC (DC/DC) transducer is generally used for managing and transmitting the power that comes from two voltage sources.And, because the alternative fuel motor vehicle only comprises direct current (DC) power source usually, thereby DC-AC (DC/AC) inverter (or power inverter) also is set with the DC power transfer to be interchange (AC) power that motor needs usually.
The pith of power controlling electronic device is the feedback that is provided by current sensor, and in fact the flow through magnitude of current of the winding in the electro-motor of expression is because this feedback is used for optimization efficiency and torque adjustment.Influence torque adjustment significantly with the interface related any error of current sensor.In addition, hall effect sensor is used as these current sensors sometimes, and stands linearity error, output accuracy error, hysteresis error and zero current error usually.The zero current deviation can account for the signal portion of total current sensing error and can be the deviation that comes from transducer, circuit interface deviation, power source deviation, analog to digital channel offset, operating temperature changes and the result of external noise.
Therefore, expectation is provided for controlling the improvement system and method for electro-motor, and described system and method provides eliminating to small part of this current sense error.In addition, of the present invention other wish feature and characteristic from describe in detail subsequently and claims in conjunction with the accompanying drawings and aforementioned technical field and background technology apparent.
Summary of the invention
A kind of method that is used to control electro-motor is provided.Described electro-motor comprises at least one winding.Monitoring stream is through the winding current of described at least one winding.Winding current has oscillating component and offset component.The offset component of winding current separates from the oscillating component of winding current.Electro-motor is based on the offset component control of winding current.
A kind of method that is used for controller motor-car electro-motor is provided.Described motor vehicle electro-motor comprises a plurality of windings.Monitor a plurality of winding currents.Flow through in described a plurality of winding corresponding one of in described a plurality of winding current each.Produce a plurality of winding current signals.In described a plurality of winding signal each is represented corresponding in described a plurality of winding current, and is the summation of oscillating component and offset component.Described a plurality of winding current signal is filtered to determine each the offset component in described a plurality of winding current signals.Described motor vehicle electro-motor is based on the offset component control of described a plurality of winding current signals.
A kind of vehicular propulsion system is provided.Described vehicular propulsion system comprises: electro-motor, and described electro-motor has at least one winding; Be coupled to direct current (DC) voltage source of described electro-motor; Be coupled to the current sensor of described at least one winding, described current sensor is configured to produce the flow through signal of winding current of described at least one winding of expression; Power inverter, described power inverter have at least one the power switch device that is coupled to described at least one winding and described dc voltage source; And processor, described processor functionally is communicated with electro-motor, dc voltage source, current sensor and power inverter.Described processor is configured to: monitoring stream is through the winding current of described at least one winding, and wherein, winding current has oscillating component and offset component; The offset component of the winding current oscillating component from winding current is separated; And based on described at least one the power switch device of the offset component of winding current control.
1. 1 kinds of methods that are used to control electro-motor of scheme, described electro-motor comprises at least one winding, described method comprises:
Monitoring stream is through the winding current of described at least one winding, and described winding current has oscillating component and offset component;
The offset component of the winding current oscillating component from winding current is separated; And
Offset component control electro-motor based on winding current.
Scheme 2. is according to scheme 1 described method, and wherein, described winding current is the summation of oscillating component and offset component.
Scheme 3. is according to scheme 2 described methods, wherein, comprises from winding current based on the offset component control electro-motor of winding current deducting offset component to determine oscillating component.
Scheme 4. is according to scheme 3 described methods, wherein, only takes place during less than predetermined current threshold at offset component based on the offset component control electro-motor of winding current.
Scheme 5. is according to scheme 4 described methods, and wherein, the oscillating component of winding current has frequency of operation.
Scheme 6. wherein, is carried out from the oscillating component separation of winding current the offset component of winding current according to scheme 5 described methods with the low pass filter with cut-off frequency.
Scheme 7. is according to scheme 6 described methods, wherein, only takes place when the frequency of operation of the oscillating component of winding current is higher than the preset frequency threshold value based on the offset component control electro-motor of winding current.
Scheme 8. is according to scheme 7 described methods, and wherein, described preset frequency threshold value is greater than the cut-off frequency of low pass filter.
Scheme 10. is according to scheme 9 described methods, and wherein, monitoring uses hall effect sensor to carry out by the winding current of described at least one winding.
11. 1 kinds of methods that are used for controller motor-car electro-motor of scheme, described motor vehicle electro-motor comprises a plurality of windings, described method comprises:
Monitor a plurality of winding currents, flow through in described a plurality of winding corresponding one of each in described a plurality of winding currents;
Produce a plurality of winding current signals, each in described a plurality of winding signals is represented corresponding in described a plurality of winding current, and is the summation of oscillating component and offset component;
The described a plurality of winding current signals of filtering are to determine each the offset component in described a plurality of winding current signals; And
Control described motor vehicle electro-motor based on the offset component of described a plurality of winding current signals.
Scheme 13. is according to scheme 12 described methods, wherein, the oscillating component of each in described a plurality of winding current signal has frequency of operation, described frequency of operation is corresponding to corresponding one power frequency in described a plurality of winding currents, and wherein, the described a plurality of winding current signals of filtering are carried out with at least one low pass filter with cut-off frequency.
Scheme 15. is according to scheme 14 described methods, and wherein, described preset frequency threshold value is greater than the cut-off frequency of described at least one low pass filter.
16. 1 kinds of vehicular propulsion system of scheme comprise:
Electro-motor, described electro-motor has at least one winding;
Be coupled to direct current (DC) voltage source of described electro-motor;
Be coupled to the current sensor of described at least one winding, described current sensor is configured to produce the flow through signal of winding current of described at least one winding of expression;
Power inverter, described power inverter have at least one the power switch device that is coupled to described at least one winding and described dc voltage source; And
Processor, described processor functionally is communicated with electro-motor, dc voltage source, current sensor and power inverter, and described processor is configured to:
Monitoring stream is through the winding current of described at least one winding, and wherein, winding current has oscillating component and offset component;
The offset component of the winding current oscillating component from winding current is separated; And
Described at least one power switch device of offset component control based on winding current.
Scheme 17. is according to scheme 16 described vehicular propulsion system, wherein, winding current is the summation of oscillating component and offset component, and processor is arranged such that and comprises from winding current based on described at least one the power switch device of the offset component of winding current control and to deduct offset component to determine oscillating component.
Scheme 19. is according to scheme 18 described vehicular propulsion system, wherein, the oscillating component of winding current has frequency of operation, the offset component of winding current is carried out with the low pass filter with cut-off frequency from the oscillating component separation of winding current, processor is arranged such that controlling described electro-motor based on the offset component of winding current only takes place when the frequency of operation of the oscillating component of winding current is higher than the preset frequency threshold value, described preset frequency threshold value is greater than the cut-off frequency of low pass filter.
Description of drawings
The present invention will be described hereinafter in conjunction with the following drawings, and wherein similarly Reference numeral is represented similar elements, and:
Fig. 1 is the schematic diagram of exemplary motor vehicle according to an embodiment of the invention;
Fig. 2 is the block diagram of the interior inverter system of the motor vehicle of Fig. 1;
Fig. 3 is the schematic diagram of interior power inverter, voltage source and electro-motor of the motor vehicle of Fig. 1;
Fig. 4 makes up block diagram and flow chart according to an embodiment of the invention, shows the system and/or the method that are used to control motor.
Embodiment
Following embodiment is in essence only for exemplary and be not intended to limit the present invention or application of the present invention and use.In addition, be not to be intended to be subject to any clear and definite or implicit theory that proposes in aforementioned technical field, background technology, summary of the invention or the following embodiment.In addition, although the schematic diagram shown in this paper has illustrated the exemplary arrangement of element, the intermediary element that in the embodiment of reality, also can occur adding, device, feature or parts.Should be appreciated that Fig. 1-4 only is descriptive, and be not drawn to scale.
Fig. 1-Fig. 4 shows the system and method that is used to control electro-motor.Described electro-motor comprises at least one winding.Monitoring stream is through the winding current of described at least one winding.Winding current has oscillating component and offset component.The offset component of winding current separates from the oscillating component of winding current.Electro-motor is based on the control of the offset component of winding current, and except when the low output frequency, wherein, vibration frequency is low, and the deviation electric current can not separate with the oscillating component from winding current of mode timely.Electro-motor can be mounted in the motor vehicle electro-motor in the vehicular propulsion system.Separating the offset component of winding current can carry out with low pass filter, and described low pass filter has greater than the offset component frequency and less than the cut-off frequency of oscillating component frequency.
Fig. 1 shows vehicle (or motor vehicle) 10 according to one embodiment of present invention.Motor vehicle 10 comprises chassis 12, vehicle body 14, four wheels 16 and electronic control systems 18.Vehicle body 14 is arranged on the chassis 12 and the miscellaneous part of enveloping maneuver car 10 basically.Vehicle body 14 and chassis 12 can jointly form vehicle frame.Each all is connected to wheel 16 near the corresponding bight that is positioned at vehicle body 14 the chassis 12 rotatably.
Motor vehicle 10 can be any in the motor vehicle of number of different types, for example, and car, lorry, truck or sports type vehicle (SUV), and can be two-wheel drive (2WD) (promptly, rear wheel drive or front-wheel drive), four-wheel drive (4WD), or full wheel drive (AWD).Motor vehicle 10 also can be combined with any or the combination in the engine of number of different types, for example, (FFV) engine is (promptly for gasoline or diesel fuel internal combustion engine, " flexible fuel vehicle ", the mixture of use gasoline and alcohol), gaseous compound (for example, hydrogen and/or natural gas) engine fuel, burning/electro-motor hybrid power engine (that is, for example in hybrid electric vehicle (HEV)) and electro-motor.
In exemplary embodiment illustrated in fig. 1, motor vehicle 10 is HEV, and comprises actuator 20, storage battery (or DC power or voltage source) 22, power electronic assembly (for example, inverter or inverter assembly) 24 and radiator 26.Actuator 20 comprises internal combustion engine 28 and electric motor/generator (or motor) 30.
Still with reference to figure 1, internal combustion engine 28 and/or electro-motor 30 whole formation, thus in them one or both mechanically are connected in the wheel 16 at least some by one or more driving shafts 32.In one embodiment, motor vehicle 10 is " cascaded H EV ", and wherein, internal combustion engine 28 directly is not connected to speed changer, but is connected to the generator (not shown) that is used for providing power to electro-motor 30.In another embodiment, motor vehicle 10 is " HEV in parallel ", and wherein, internal combustion engine 28 directly is connected to speed changer, for example by making the rotor of electro-motor 30 be connected to the driving shaft of internal combustion engine 28 rotatably.
Refer again to Fig. 1, in the embodiment shown, inverter 24 receive cooling agents and with electro-motor 30 share coolant.Yet other embodiment can use the independent cooling agent that is used for inverter 24 and electro-motor 30.Radiator 26 can be connected to inverter 24 and/or electro-motor 30 similarly.
With reference to figure 2, show inverter control system (or power drive system) 34 according to an exemplary embodiment of the present invention.Voltage source inverter system 34 comprises controller 36, controller 36 and pulse-width modulation (PWM) modulator 38(or pulse width modulator) and inverter 24(in its output place) operable communication.PWM modulator 38 is coupled to gate driver 39, and gate driver 39 has the output that is coupled to inverter 24 inputs then.Inverter 24 has second output that is coupled to motor 30.Controller 36 and PWM modulator 38 can form with electronic control system 18 integral body shown in Figure 1.
Fig. 3 schematically shows storage battery (and/or dc voltage source) 22, inverter 24(or the power converter of Fig. 1 and 2 in more detail) and motor 30.Inverter 24 comprises the three-phase circuit that is coupled to motor 30.More specifically, inverter 24 comprises switching network, has the storage battery of being coupled to 22(promptly, voltage source (V
Dc)) first input and be coupled to the output of motor 30.Though show single voltage source, can use distributed DC link with two or more series electrical potential sources.
It should be appreciated by those skilled in the art that, in one embodiment, electro-motor 30 is word electro-motors, and comprises that stator module 40(comprises conductive coil or winding) and rotor assembly 42(comprise ferromagnetic core and/or magnet) and speed changer and cooling fluid (not shown).Stator module 40 comprises a plurality of (for example, three) conductive coils or winding 44,46 and 48, wherein each links to each other with three of electro-motor 30 in mutually one, as commonly understood.Rotor assembly 42 comprises a plurality of magnets 50 and is connected to stator module 40 rotatably, as commonly understood.Magnet 50 can comprise a plurality of electromagnetic poles (for example 16 magnetic poles), as that of common sense.Should be understood that explanation provided above is intended to the example as operable a kind of electro-motor.
Switching network comprises three to (a, b and c) series connection power switch device (or switch), and switching device has each the mutually corresponding inverse parallel diode (antiparallel diode) (that is, with each switch inverse parallel) with motor 30.The every pair of tandem tap comprises first switch or transistor (i.e. " height " switch) 52,54 and 56 and second switch (i.e. " low " switch) 58,60 and 62, first switch or transistor (i.e. " height " switch) 52,54 and 56 has the first terminal of the positive pole that is connected to voltage source 22, the first terminal that second switch (i.e. " low " switch) 58,60 and 62 has second terminal of the negative pole that is connected to voltage source 22 and is connected to second terminal of corresponding first switch 52,54 and 56.
As commonly understood, each switch 52-62 can be the form of independent semiconductor device (for example igbt (IGBT)), and integrated circuit is gone up in semiconductor (for example, silicon) substrate (for example, chip) and formed.As shown in the figure, diode 64 is connected with each switch 52-62 with inverse parallel configuration (that is " reversing " or " afterflow " diode).Thereby each switch 52-62 and respective diode 64 can be regarded as formation switch-diode pair or group, comprise six switch-diode pairs or group in the embodiment shown.
Still with reference to figure 3, inverter 24 and/or motor 30 comprise a plurality of current sensors 66, and wherein each is configured to detect the electric current by corresponding in the winding 44,46 and 48 of motor 30 (and/or by respective switch 52-62 or diode 64).In one embodiment, current sensor 66 is hall effect sensors.Other example of current sensor comprises shunt resistance transducer (resistive shunt type sensor) and magnetoresistive transducer.
During normal running (that is, driving), with reference to figure 1, motor vehicle 10 is by side by side providing power to operate to wheel 16 in an alternating manner and/or with internal combustion engine 28 and electro-motor 30 with internal combustion engine 28 and electro-motor 30.In order to provide power to electro-motor 30, from storage battery 22(and under the situation of fuel cell vehicle, be fuel cell) provide DC power to inverter 24, inverter 24 became AC power with the DC power transfer before power is delivered to electro-motor 30.As the skilled person will appreciate, DC power to the conversion of AC power is by realizing with the transistor in operation (or switch) frequency (for example 12 KHz (kHz)) operation (that is, repeatedly switch) inverter 24 basically.
With reference to figure 2, usually, controller 36 produces pulse-width modulation (PWM) signal, with the switch motion of control inverter 24.Next, inverter 24 is converted to voltage waveform after the modulation with pwm signal, with operation motor 30.The inverter control system 34 of Fig. 2 comprises a plurality of operations during normal or forward operation, include but not limited to: receive torque command, based on present speed with voltage available is converted to current-order with torque command and carry out on this current-order and regulate.The output of current regulator (not shown) be produce the required output voltage of the electric current of asking.PWM modulator 38 and gate driver 39 produce required gate pulse (or duty factor), and described pulsing gives inverter 24 so that electro-motor 30 is controlled to be desired speed and/or moment of torsion.Can adopt additional consideration by controlling the path forward, for example the added communications or the feedback (about system mode and availability) of system temperature, restriction and overall system control.
According to an aspect of the present invention, as the part of feedback control loop, monitoring stream is through the electric current of winding 44,46 and 48.Winding current (and/or signal of the expression winding current that is generated) all has oscillating component and offset component.Oscillating component is corresponding to the frequency of operation of inverter, and offset component for example is because the result of zero current deviation.Offset component is from winding current separation or filtering and be used to control the operation of electro-motor 30.
Fig. 4 shows motor control system (and/or method) 100 according to an embodiment of the invention.Control system 100 comprises torque controller 102 and deviation current detection circuit 104.Torque controller 102 comprises current-order piece 106, current control loop 108 and current monitor 110.Deviation current detection circuit 104 comprises low pass filter 112, deviation demand limiter 114 and torque controller interface 116.Such as understood by a person skilled in the art, in one embodiment, control system 100 can be implemented (that is, to be stored in the instruction on the computer-readable medium or the form of " software "), especially the inverter control module in electronic control system 18 in electronic control system 18.Yet in other embodiments, the part of control system 100 may be embodied as hardware, as using the circuit of discrete electronic components.
As shown in the figure, torque controller 102 receives (that is, from motor vehicle 10 each other subsystem and transducer) torque command (T*), winding current (I
a, I
b, I
c), the voltage available (V of voltage source
Dc), the angular speed (ω of motor (or motor in rotor)
r) and position, the angle (θ of motor
r) as input.
In torque controller 102, the angular speed of torque command, voltage available and motor sends to current-order piece 106.Current-order piece 106 uses the question blank on the computer-readable medium that for example is stored in the electronic control system to produce instruction synchronous coordinate electric current (I*
q, I*
d), such as understood by a person skilled in the art.The synchronous coordinate electric current sends to current control loop 108 then.
In current control loop 108, the synchronous coordinate electric current is received by corresponding summing circuit (or summer) 118 and 120, and wherein each deducts sensing synchronous coordinate electric current (I from the command adapted thereto electric current
q, I
d).Poor (that is error) between instruction and the sensing synchronous coordinate electric current sends to proportional integral (PI) controller 122 and 124.
Such as understood by a person skilled in the art, PI controller 122 and 124 is feedback loop parts, adopts the measured value (or output) come from process or miscellaneous equipment and itself and setting or reference value are compared.Difference (or " error " signal) is used for the input of adjustment process then, so that make output become desired reference value.PI controller 122 and 124 can comprise proportional and integral.Proportional is used for considering " immediately " or error current that it multiply by constant.Integral is in certain hour section integrates error, and integral be multiply by another constant.
Thereby PI controller 122 and 124 receives current current error from summing circuit 118 and 120, and produces the signal of the combination of current current error of expression and the current error in the certain hour section.PI controller 122 and 124 output send to summing circuit 126 and 128 respectively, in one embodiment, summing circuit 126 and 128 also receive decoupling zero voltage/feedback term (
ω r ψ * d +
I * q R s ,-
ω r ψ * q +
I * d R s ).Summing circuit 126 and 128 output and the additions of corresponding decoupling zero voltage with PI controller 122 and 124, and will export (instruction synchronous coordinate voltage (V*
q, V*
d)) send to three-phase (that is abc) reference coordinate conversion block 130.As commonly understood, reference coordinate conversion block 130 also receives the angular speed and the position of motor 30, and generation instruction fixed voltage (
V * a ,
V * b ,
V * c ), its each corresponding to three of motor 30 in mutually one.
Though clearly do not illustrate, instruct fixed voltage then by the inverter control modules in the electronic control system for example 18 be converted to duty factor (
D a ,
D b ,
D c ).Duty factor is used to operate switch 52-62 in the inverter 24 then with operation motor 30.
Still with reference to figure 4, current monitor 110 comprises summing circuit 132,134 and 136 and two-phase (that is dq) reference coordinate conversion block 138.Each summing circuit 132,134 and 136 receives and to come from for example corresponding current sensor 66(Fig. 3) sensing winding current (I
a, I
b, I
c) and come from deviation current detection circuit 104 the deviation electric current (
I A_offset ,
I B_offset ,
I C_offset ).Reference coordinate conversion block 138 reception summing circuits 132,134 and 136 output, the angular speed and the position, angle of motor 30, and produce the sensing synchronous coordinate electric current (I that uses by current control loop 108
q, I
d), as mentioned above.
Deviation current detection circuit 104 receives sensing winding current (I
a, I
b, I
c) as output.The sensing winding current is presented by low pass filter 112.According to an aspect of the present invention, sensing winding current (I
a, I
b, I
c) and/or represent that the signal that is produced by current sensor 66 of winding current includes oscillating component (for example, being similar to the fundamental frequency of motor 30) and " deviation " or static or non-vibration (or low frequency) component (that is zero current deviation).Such as understood by a person skilled in the art, offset component can not have frequency basically or has zero frequency (promptly, the DC amount), and be the result of each phenomenon, described phenomenon for example comes from deviation/error and any external noise or the interference of current sensor 66, circuit interface, power source and analog to digital channel interface.
Thereby, when the sensing winding current is used low pass filter 112 filtering, offset component or electric current (
I A_offset ,
I B_offset ,
I C_offset ) separate from winding current, as long as the frequency of the oscillating component of winding current is higher than the cut-off frequency of low pass filter.In one embodiment, the offset component that is caused by the current sensor interface uses following equation to detect
Wherein, T
sBe sample time, τ
sIt is the filter time constant.
In one embodiment, the cut-off frequency of low pass filter 112 can be 0.5 Hz.Equally, control system 100 can be arranged such that deviation current detection circuit 104 is lower than preset frequency threshold value (cut-off frequency that can be higher than low pass filter 112, for example 1.0 Hz) time in basic motor frequency and does not use.Should be noted in the discussion above that as mentioned above in other embodiments, low pass filter 112 may be embodied as hardware, for example a series of discrete passive electronic units (for example, resistor and capacitor) in the electronic control system 18.
Still with reference to figure 4, offset component sends to deviation demand limiter 114 then.Deviation demand limiter 114 compares offset component and predetermined current threshold (for example, 15 A).If any offset component is more than or equal to (promptly, be not less than) current threshold (perhaps not in " expection worst condition boundary "), suppose that current sensor winding (and/or corresponding signal) is unreliable, then offset component does not send to control unit interface 116, deviation current detection circuit 104 returns low pass filter 112, is used for next circulation.In certain embodiments, the system of notice higher level, the deviation detection system detects the zero current deviation outside the desired extent.
If the deviation electric current is in expection worst condition boundary, deviation current detection circuit 104 sends to torque controller 112 via torque controller interface 116 with the deviation electric current.As mentioned above, each deviation electric current sends to corresponding in summing circuit 132,134 and 136, at summing circuit 132,134 and 136, deducts the deviation electric current from associated winding electric current (and/or signal of expression winding current).Thereby summing circuit 132,134 and 136 output represent more accurately because the magnitude of current of the winding of flowing through that instruction current causes, and do not come from the interference of deviation electric current.Thereby, improved the accuracy of the sensing synchronous coordinate electric current that offers current control loop 108, the overall torque adjustment in torque controller 112 also is like this.
Another advantage is to reduce phase current imbalance and torque vibration and pulsation.Another advantage is because the deviation current detection circuit may be embodied as " software ", thereby makes any increase of manufacturing cost of motor vehicle 10 minimize.
Other embodiment can adopt said method and system in the execution mode (as ship and airborne vehicle) outside motor vehicle.Electro-motor can have varying number mutually with power inverter, as two or four.Can use the power source of other form, for example current source and load (comprising diode rectifier, thyristor, fuel cell, inductor, capacitor and/or its combination).
Though in previous embodiment, set forth at least one exemplary embodiment, should be understood that, there is a large amount of modification.Should be appreciated that also exemplary embodiment only is an example, and be not intended to limit the scope of the invention by any way, applicability or structure.On the contrary, previous embodiment will provide the convenient approach of those skilled in the art's exemplifying embodiment embodiment.Should be understood that, can carry out various variations to the function and the layout of element, and not depart from the scope of setting forth by appended claims and legal equivalents thereof of the present invention.
Claims (10)
1. method that is used to control electro-motor, described electro-motor comprises at least one winding, described method comprises:
Monitoring stream is through the winding current of described at least one winding, and described winding current has oscillating component and offset component;
The offset component of the winding current oscillating component from winding current is separated; And
Offset component control electro-motor based on winding current.
2. method according to claim 1, wherein, described winding current is the summation of oscillating component and offset component.
3. method according to claim 2 wherein, comprises from winding current based on the offset component of winding current control electro-motor deducting offset component to determine oscillating component.
4. method according to claim 3 wherein, only takes place during less than predetermined current threshold at offset component based on the offset component of winding current control electro-motor.
5. method according to claim 4, wherein, the oscillating component of winding current has frequency of operation.
6. method according to claim 5 wherein, is carried out from the oscillating component separation of winding current the offset component of winding current with the low pass filter with cut-off frequency.
7. method according to claim 6 wherein, only takes place when the frequency of operation of the oscillating component of winding current is higher than the preset frequency threshold value based on the offset component of winding current control electro-motor.
8. method according to claim 7, wherein, described preset frequency threshold value is greater than the cut-off frequency of low pass filter.
9. method that is used for controller motor-car electro-motor, described motor vehicle electro-motor comprises a plurality of windings, described method comprises:
Monitor a plurality of winding currents, flow through in described a plurality of winding corresponding one of each in described a plurality of winding currents;
Produce a plurality of winding current signals, each in described a plurality of winding signals is represented corresponding in described a plurality of winding current, and is the summation of oscillating component and offset component;
The described a plurality of winding current signals of filtering are to determine each the offset component in described a plurality of winding current signals; And
Control described motor vehicle electro-motor based on the offset component of described a plurality of winding current signals.
10. vehicular propulsion system comprises:
Electro-motor, described electro-motor has at least one winding;
Be coupled to direct current (DC) voltage source of described electro-motor;
Be coupled to the current sensor of described at least one winding, described current sensor is configured to produce the flow through signal of winding current of described at least one winding of expression;
Power inverter, described power inverter have at least one the power switch device that is coupled to described at least one winding and described dc voltage source; And
Processor, described processor functionally is communicated with electro-motor, dc voltage source, current sensor and power inverter, and described processor is configured to:
Monitoring stream is through the winding current of described at least one winding, and wherein, winding current has oscillating component and offset component;
The offset component of the winding current oscillating component from winding current is separated; And
Described at least one power switch device of offset component control based on winding current.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/687,496 US8378603B2 (en) | 2010-01-14 | 2010-01-14 | Method and system for controlling an electric motor using zero current offset value cancellation |
| US12/687496 | 2010-01-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102130653A true CN102130653A (en) | 2011-07-20 |
| CN102130653B CN102130653B (en) | 2014-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110007407.3A Expired - Fee Related CN102130653B (en) | 2010-01-14 | 2011-01-14 | Method and system for controlling an electric motor using zero current offset value cancellation |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US8378603B2 (en) |
| CN (1) | CN102130653B (en) |
| DE (1) | DE102011008473A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103828223A (en) * | 2011-09-30 | 2014-05-28 | 三菱电机株式会社 | Vector control device for electric motor, electric motor, vehicle drive system, and vector control method for electric motor |
| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
| CN105099300A (en) * | 2014-05-06 | 2015-11-25 | 德昌电机(深圳)有限公司 | Controller, special-purpose integrated circuit, stepper motor, actuator and application thereof |
| CN105938158A (en) * | 2015-03-05 | 2016-09-14 | 福特全球技术公司 | Reliable current sensing for inverter-controlled electric machine |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101284344B1 (en) * | 2011-12-09 | 2013-07-08 | 현대자동차주식회사 | Current sensor reconfigureation method of a vehicle having a motor |
| CN105589372B (en) * | 2014-11-07 | 2018-03-09 | 青岛海信日立空调***有限公司 | A kind of circuit and method for eliminating systematic error |
| DE102018200995A1 (en) * | 2018-01-23 | 2019-07-25 | Robert Bosch Gmbh | A method of operating a steering system with a compensation device for reducing a torque ripple of a three-phase machine |
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| US5708337A (en) * | 1993-06-14 | 1998-01-13 | Camco International, Inc. | Brushless permanent magnet motor for use in remote locations |
| US7518325B2 (en) * | 2006-09-29 | 2009-04-14 | Silicon Laboratories Inc. | System and method for controlling anti-pinch powered windows |
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- 2010-01-14 US US12/687,496 patent/US8378603B2/en not_active Expired - Fee Related
-
2011
- 2011-01-13 DE DE102011008473A patent/DE102011008473A1/en not_active Withdrawn
- 2011-01-14 CN CN201110007407.3A patent/CN102130653B/en not_active Expired - Fee Related
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| US5841263A (en) * | 1996-05-20 | 1998-11-24 | Hitachi, Ltd. | Frequency dependent current control system for an AC motor |
| CN1175816A (en) * | 1996-09-04 | 1998-03-11 | 三菱电机株式会社 | Method and apparatus for control of rotary magnet type polyphase synchronous motor |
| US6259226B1 (en) * | 1998-09-03 | 2001-07-10 | Mitsubishi Denki Kabushiki Kaisha | Controller for AC motor |
| CN1902813A (en) * | 2004-01-07 | 2007-01-24 | 三菱电机株式会社 | Motor controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103828223A (en) * | 2011-09-30 | 2014-05-28 | 三菱电机株式会社 | Vector control device for electric motor, electric motor, vehicle drive system, and vector control method for electric motor |
| CN103828223B (en) * | 2011-09-30 | 2017-06-23 | 三菱电机株式会社 | Motor vector control apparatus, motor, driver for vehicle and motor vector control method |
| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
| CN103856140B (en) * | 2014-03-26 | 2016-04-06 | 西北工业大学 | A kind of alternating current generator vector controlled current signal error compensating method |
| CN105099300A (en) * | 2014-05-06 | 2015-11-25 | 德昌电机(深圳)有限公司 | Controller, special-purpose integrated circuit, stepper motor, actuator and application thereof |
| CN105938158A (en) * | 2015-03-05 | 2016-09-14 | 福特全球技术公司 | Reliable current sensing for inverter-controlled electric machine |
| CN105938158B (en) * | 2015-03-05 | 2020-06-02 | 福特全球技术公司 | Reliable current sensing for inverter controlled electric machines |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102130653B (en) | 2014-06-04 |
| US20110169438A1 (en) | 2011-07-14 |
| US8378603B2 (en) | 2013-02-19 |
| DE102011008473A1 (en) | 2011-09-01 |
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